Floor-drop detection system for mobile robot

Abstract

A system whereby a mobile robot can detect a floor-drop includes a chassis and at least one infrared (IR) sensor. The chassis includes a mounting portion and a translucent lens mounted on the mounting portion. The mounting portion and the translucent lens are inclined downwards, at an angle to a horizontal plane. The IR sensor is mounted in the chassis adjacent to the translucent lens. The IR sensor transmits a signal to a lower surface in front of the chassis through the transparent lens. The IR sensor can detect a distant floor-drop such that the mobile robot can have enough time to stop a front wheel going over the floor-drop.

What is claimed is: 
     
         1 . A floor-drop detection system for a mobile robot comprising:
 a chassis comprising a mounting portion and a translucent lens mounted on the mounting portion; and   at least one infrared (IR) sensor mounted in the chassis adjacent to the translucent lens;   wherein the mounting portion and the translucent lens are inclined downwards, at an angle to a horizontal plane, and the IR sensor transmits a signal to a lower surface in front of the chassis through the transparent lens.   
     
     
         2 . The floor-drop detection system of  claim 1 , wherein the angle of the mounting portion and the transparent lens with respect to the horizontal plane is  40  degrees. 
     
     
         3 . The floor-drop detection system of  claim 1 , wherein the chassis comprises a protection portion perpendicular to the horizontal plane, and the mounting portion is connected to a lower edge of the protection portion. 
     
     
         4 . The floor-drop detection system of  claim 2 , wherein the chassis comprises a protection portion perpendicular to the horizontal plane, and the mounting portion is connected to a lower edge of the protection portion. 
     
     
         5 . The floor-drop detection system of  claim 3 , wherein the protection portion is curved and the mounting portion is curved. 
     
     
         6 . The floor-drop detection system of  claim 4 , wherein the protection portion is curved and the mounting portion is curved. 
     
     
         7 . The floor-drop detection system of  claim 1 , wherein the translucent lens is mounted on a center of the mounting portion. 
     
     
         8 . The floor-drop detection system of  claim 2 , wherein the translucent lens is mounted on a center of the mounting portion. 
     
     
         9 . The floor-drop detection system of  claim 3 , wherein the translucent lens is mounted on a center of the mounting portion. 
     
     
         10 . The floor-drop detection system of  claim 4 , wherein the translucent lens is mounted on a center of the mounting portion. 
     
     
         11 . The floor-drop detection system of  claim 5 , wherein the translucent lens is mounted on a center of the mounting portion. 
     
     
         12 . The floor-drop detection system of  claim 6 , wherein the translucent lens is mounted on a center of the mounting portion. 
     
     
         13 . The floor-drop detection system of  claim 1 , further comprising at least one light-blocking foam;
 wherein a number of the at least one light-blocking foam is the same as a number of the at least one IR sensor, and each of the at least one light-blocking foam is mounted around a corresponding one of the at least one IR sensor.   
     
     
         14 . The floor-drop detection system of  claim 2 , further comprising at least one light-blocking foam;
 wherein a number of the at least one light-blocking foam is the same as a number of the at least one IR sensor, and each of the at least one light-blocking foam is mounted around a corresponding one of the at least one IR sensor.   
     
     
         15 . The floor-drop detection system of  claim 3 , further comprising at least one light-blocking foam;
 wherein a number of the at least one light-blocking foam is the same as a number of the at least one IR sensor, and each of the at least one light-blocking foam is mounted around a corresponding one of the at least one IR sensor.   
     
     
         16 . The floor-drop detection system of  claim 4 , further comprising at least one light-blocking foam;
 wherein a number of the at least one light-blocking foam is the same as a number of the at least one IR sensor, and each of the at least one light-blocking foam is mounted around a corresponding one of the at least one IR sensor.   
     
     
         17 . The floor-drop detection system of  claim 5 , further comprising at least one light-blocking foam;
 wherein a number of the at least one light-blocking foam is the same as a number of the at least one IR sensor, and each of the at least one light-blocking foam is mounted around a corresponding one of the at least one IR sensor.   
     
     
         18 . The floor-drop detection system of  claim 6 , further comprising at least one light-blocking foam;
 wherein a number of the at least one light-blocking foam is the same as a number of the at least one IR sensor, and each of the at least one light-blocking foam is mounted around a corresponding one of the at least one IR sensor.   
     
     
         19 . The floor-drop detection system of  claim 7 , further comprising at least one light-blocking foam;
 wherein a number of the at least one light-blocking foam is the same as a number of the at least one IR sensor, and each of the at least one light-blocking foam is mounted around a corresponding one of the at least one IR sensor.   
     
     
         20 . The floor-drop detection system of  claim 8 , further comprising at least one light-blocking foam;
 wherein a number of the at least one light-blocking foam is the same as a number of the at least one IR sensor, and each of the at least one light-blocking foam is mounted around a corresponding one of the at least one IR sensor.